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研究生:林秉鋒
研究生(外文):Bing-feng Lin
論文名稱:應用迴路成形設計法則於重複控制器之研究
論文名稱(外文):Design and Analysis of a Repetitive Controller using Loop Shaping
指導教授:蔡孟勳蔡孟勳引用關係
指導教授(外文):Meng-Shiun Tsai
學位類別:碩士
校院名稱:國立中正大學
系所名稱:機械工程所
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2006
畢業學年度:94
語文別:中文
論文頁數:80
中文關鍵詞:重複控制迴路成型法則
外文關鍵詞:loop shapingrepetitive control
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本論文提出新的設計方式設計重複式控制器(Repetitive Controller)。重複式控制器為一個補償器,加入原本伺服控制系統上的目的為改善週期性誤差,而設計此控制器的困難處為控制器加入原系統中,系統仍維持穩定。在各篇文獻中,雖然設計的方法為系統化,但是這些控制器出來的結果通常會使得暫態響應很差,如暫態響應過度振盪或前一個週期內誤差無法收斂。因此如何設計一個強健性的重複控制器,以確切抑制週期性干擾訊號是本研究目的之一。另一方面,若要面對高頻率週期性干擾,文獻中都是將重複式控制器加在伺服系統中的位置迴路,但是由於位置迴路頻寬不足,導致能克服的干擾頻率都以低頻居多。本論文提出將重複式控制器加入在速度迴路上。利用此方法設計的控制器,具有可將控制頻率提高的優點。本研究將基於上述理由,利用迴路成型法(loop shaping)來分析及設計重複式控制器,以達到改善暫態、確保穩定性與零穩態誤差之目的。
This thesis presents a new approach for designing a repetitive controller. The repetitive controller serves as a compensator, plugged into a control system, to improve performance for the plant to accurately track a periodic signal. The stability of the resulting system may not be maintained when the repetitive controller is installed. Conventional approaches design a repetitive controller focusing on how to ensure the stability of the resulting system, but the designed controller usually possesses poor transient state response, such as excessive oscillation. Hence how to design a repetitive controller in order to reject periodic disturbance definitely is the objective in this thesis. On the other hand, facing high-frequency periodic disturbance has some constraint because the bandwidth of position loop is not sufficient. Hence only the low-frequency disturbance could be addressed. We proposed a modified repetitive controller plugged into velocity loop to increase controlled bandwidth. Because of above reasons, the repetitive controller is analyzed and designed using loop shaping method. The objective is to improve transient response, ensure stability and achieve zero steady state error.
第一章 緒論 1
1-1 研究動機及目的 1
1-2 文獻回顧 2
1-3 論文架構 3
第二章 系統架構介紹 4
2-1 直流伺服控制系統 4
2-1-1 馬達等效轉動慣量之推導 4
2-1-2 速度控制迴路 5
2-1-3 位置控制迴路 6
2-2 PI控制器設計 7
2-3 步階響應之結果 8
第三章 重複控制器之設計與分析 12
3-1 迴路成形法(Loop shaping)簡介 12
3-2 內部模型原理 13
3-3 重複控制器介紹 13
3-4 重複控制器設計與分析 15
3-4-1 修改式(Modified)重複控制器 15
3-4-2 穩定性分析 16
3-4-3 修改式重複控制器設計 17
3-4-4 響應性能分析 20
第四章 隆起濾波器介紹與設計 41
4-1 隆起濾波器介紹 41
4-2 隆起濾波器設計與分析 43
4-3 控制系統誤差準則 43
4-3-1 隆起濾波器之分析 45
4-4 使用重複控制器與隆起濾波器之差異性比較 47
第五章 實驗結果 68
5-1 閉迴路實驗架構 68
5-2 實驗結果 70
5-2-1 重複式控制器之實驗結果 70
5-2-2 隆起濾波器之實驗結果 74
第六章 結論與未來工作 78
參考文獻 79
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